100 lines
3.2 KiB
C++
100 lines
3.2 KiB
C++
/**
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* @file MultiObjectTask.cpp
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* @brief This file defines the MultiObjectTask class.
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* @date 30.01.2014
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* @author baetz
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*/
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#include <framework/serviceinterface/ServiceInterfaceStream.h>
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#include <framework/tasks/MultiObjectTask.h>
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MultiObjectTask::MultiObjectTask(const char *name, TaskPriority_t setPriority,
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size_t setStack, Interval_t setPeriod, void (*setDeadlineMissedFunc)()) :
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TaskBase(setPriority, setStack, name), period(setPeriod), periodId(0), deadlineMissedFunc(
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setDeadlineMissedFunc) {
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}
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MultiObjectTask::~MultiObjectTask(void) {
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//Do not delete objects!
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}
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TaskReturn_t MultiObjectTask::taskEntryPoint(TaskArgument_t argument) {
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//The argument is re-interpreted as ObjectTask. The Task object is global, so it is found from any place.
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MultiObjectTask *originalTask(reinterpret_cast<MultiObjectTask*>(argument));
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originalTask->taskFunctionality();
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debug << "MultiObjectTask " << originalTask->getId()
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<< " returned from taskFunctionality. Deleting task." << std::endl;
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}
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ReturnValue_t MultiObjectTask::startTask() {
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this->setRunning( true);
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ReturnValue_t status;
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status = OSAL::startTask(&(this->id), MultiObjectTask::taskEntryPoint,
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TaskArgument_t((void *) this));
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if (status != RETURN_OK) {
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//TODO: Call any FDIR routine?
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error << "MultiObjectTask::startTask for " << std::hex << this->getId()
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<< std::dec << " failed." << std::endl;
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} else {
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// debug << "ObjectTask::startTask for " << std::hex << this->getId() << std::dec << " successful" << std::endl;
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}
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return status;
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}
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void MultiObjectTask::taskFunctionality() {
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ReturnValue_t status = OSAL::TIMEOUT;
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//The period is set up and started with the system call.
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if (objectList.begin() != objectList.end()) {
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status = OSAL::setAndStartPeriod(this->period, &(this->periodId));
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if (status == RETURN_OK) {
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//The task's "infinite" inner loop is entered.
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while (this->isRunning) {
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for (ObjectList::iterator it = objectList.begin();
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it != objectList.end(); ++it) {
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(*it)->performOperation();
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}
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if (OSAL::checkAndRestartPeriod(this->periodId, this->period)
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== OSAL::TIMEOUT) {
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char nameSpace[8] = { 0 };
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char* ptr = rtems_object_get_name(getId(),
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sizeof(nameSpace), nameSpace);
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error << "MultiObjectTask: " << ptr << " Deadline missed."
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<< std::endl;
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if (this->deadlineMissedFunc != NULL) {
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this->deadlineMissedFunc();
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}
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}
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}
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debug << "MultiObjectTask: Returned from taskFunctionality()-Loop."
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<< std::endl;
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} else {
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error << "MultiObjectTask::setAndStartPeriod failed with status "
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<< status << std::endl;
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}
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} else {
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error << "MultiObjectTask::taskFunctionality. No object assigned."
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<< std::endl;
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}
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//Any operating system object for periodic execution is deleted.
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debug << "Deleting the ObjectTask's period." << std::endl;
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OSAL::deletePeriod(&(this->id));
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}
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ReturnValue_t MultiObjectTask::addObject(object_id_t object) {
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ExecutableObjectIF* newObject = objectManager->get<ExecutableObjectIF>(
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object);
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if (newObject == NULL) {
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return RETURN_FAILED;
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}
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objectList.push_back(newObject);
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return RETURN_OK;
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}
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ReturnValue_t MultiObjectTask::addObject(ExecutableObjectIF* object) {
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if (object == NULL) {
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return RETURN_FAILED;
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}
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objectList.push_back(object);
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return RETURN_OK;
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}
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